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Development of High-Access Survey Robot for TEPCO’s Fukushima Daiichi Nuclear Power Station

Article of Honda R&D Technical Review Vol.26 No.2


A high-access survey robot system was developed to acquire images, doses of radiation, temperature, and humidity in locations high above the floor inside the reactor building at Tokyo Electric Power Company’s Fukushima Daiichi Nuclear Power Station, where there is a high level of on-site demand for this capability.
This robot system has a crawler-type high-place work cart modified for remote operation and is equipped with an arm having 11 joints that can reach to a height of seven meters. It is also able to insert the arm tip deep into narrow spaces at locations high above the floor. The mechanical and electrical systems were developed according to requirements formulated using information brought from the site. An operating interface was also developed to reduce the burden of remote operation. Functionality assessments were carried out by endurance testing with a mock-up as well as by proving tests conducted in a reactor building at Hamaoka Nuclear Power Station, a physical environment that closely resembles the one in the Fukushima Daiichi Nuclear Power Station.
This robot performed missions twice in Unit 2 Reactor Building, on June 18 and July 23, 2013, and once in Unit 3 Reactor Building, on May 13, 2014, for a total of three missions. It acquired doses of radiation, which had not been available before then, from the upper areas inside the reactor building, as well as images from the vicinity of the primary containment vessel. It also acquired data on the geometry inside the reactor building that will contribute to various upcoming tasks involved in decommissioning of the reactor.


(1) http://www.irobot.com/en/us/robots/defense/packbot.aspx
(2) Nagatani, K., Kiribayashi, S., Okada, Y., Otake, K., Yoshida, K., Tadokoro, S., Nishimura, T., Yoshida, T., Koyanagi, E., Fukushima, M., Kawatsuma, S.: Emergency response to the nuclear accident at the Fukushima Daiichi nuclear power plants using mobile rescue robots, Journal of Field Robotics, Vol. 30, Issue 1 (2013)
(3) http://www.topy.co.jp/files/default/News_Release_survey_runner_F__1_.pdf, 2012/3/6
(4) Shigemi, S., Kawaguchi, Y., Yoshiike T., Kawabe, K., Ogawa, N.: Development of New ASIMO, Honda R&D Technical Review, Vol. 18, No. 1, p. 38-44
(5) http://roboticstaskforce.wordpress.com/2011/05/20110427-rcpt-radiation.pdf, (2011) (in Japanese)
(6) Yokoi, K., Kato, S., Yamanobe, N., Yoon, W-K., Morikawa, Y., Ogure, T., Shigemi, S., Matsumoto, T.: Koshochosayo Robottoshisutemuno Kaihatsu, THE 31st ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN (2013) (in Japanese)
(7) http://www.tepco.co.jp/nu/fukushima-np/handouts/2013/images/handouts_130724_06-j.pdf

Author (organization or company)

Hisashi SUGIURA(Fundamental Technology Research Center)、Takafumi FUKUSHIMA(Fundamental Technology Research Center)、Mitsuhide KURODA(Fundamental Technology Research Center)、Ryusuke ISHIZAKI(Fundamental Technology Research Center)、Takashi MATSUMOTO(Fundamental Technology Research Center)

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